OpenRaiser/Intern-Atlas huggingface dataset:
RVCoreP-32IM: An effective architecture to implement mul/div instructions for five stage RISC-V soft processors
Venue: arXiv cs.AR 2020
Year: 2020

RISC-V, an open instruction set architecture, is getting the attention of soft processor developers. Implementing only a basic 32-bit integer instruction set of RISC-V, which is defined as RV32I, might be satisfactory for embedded systems. However, multiplication and division instructions are not present in RV32I, rather than defined as M-extension. Several research projects have proposed both RV32I and RV32IM processor. However, there is no indication of how much performance can be improved by adding M-extension to RV32I. In other words, when we should consider adding M-extension into the soft processor and how much hardware resource requirements will increase. In this paper, we propose an extension of the RVCoreP soft processor (which implements RV32I instruction set only) to support RISC-V M-extension instructions. A simple fork-join method is used to expand the execution capability to support M-extension instructions as well as a possible future enhancement. We then perform the benchmark using Dhrystone, Coremark, and Embench programs. We found that RV32IM is 1.87 and 3.13 times better in performance for radix-4 and DSP multiplier, respectively. In addition to that, our RV32IM implementation is 13\% better than the equivalent RISC-V processor.
Optimization Algorithm-Based Approach for Modelling Large Deflection of Cantilever Beam Subjected to Tip Load
Venue: arXiv cs.RO 2020
Year: 2020

Beam mechanism and beam theory have attracted substantial attention from researchers, as they have been widely used in many fields such as compliant mechanisms and soft robots. The modeling of beam mechanisms becomes complicated due to the geometric nonlinearity that is proved to be significant with large deflection. A new method, called optimization algorithm-based approach (OABA), is proposed to predict the large deflection of cantilever beams, in which an optimization algorithm is exploited to find the locus of the beam tip. With the derived locus of the beam tip, the deflection curve of the cantilever beam can be calculated. The optimization algorithm in this paper is embodied in a particle swarm optimization (PSO) algorithm. Experimental results show that the proposed method can precisely predict the deflection of the uniform and non-uniform cantilever beams. The maximum error is limited to 4.35% when the normalized maximum transverse deflection reaches 0.75. Given that, the proposed OABA would be a universal approach to model the large deflection of cantilever beams subjected to tip loads.
World of Code: Enabling a Research Workflow for Mining and Analyzing the Universe of Open Source VCS data
Venue: arXiv cs.SE 2020
Year: 2020

Open source software (OSS) is essential for modern society and, while substantial research has been done on individual (typically central) projects, only a limited understanding of the periphery of the entire OSS ecosystem exists. For example, how are the tens of millions of projects in the periphery interconnected through. technical dependencies, code sharing, or knowledge flow? To answer such questions we: a) create a very large and frequently updated collection of version control data in the entire FLOSS ecosystems named World of Code (WoC), that can completely cross-reference authors, projects, commits, blobs, dependencies, and history of the FLOSS ecosystems and b) provide capabilities to efficiently correct, augment, query, and analyze that data. Our current WoC implementation is capable of being updated on a monthly basis and contains over 18B Git objects. To evaluate its research potential and to create vignettes for its usage, we employ WoC in conducting several research tasks. In particular, we find that it is capable of supporting trend evaluation, ecosystem measurement, and the determination of package usage. We expect WoC to spur investigation into global properties of OSS development leading to increased resiliency of the entire OSS ecosystem. Our infrastructure facilitates the discovery of key technical dependencies, code flow, and social networks that provide the basis to determine the structure and evolution of the relationships that drive FLOSS activities and innovation.
Biomedical Concept Relatedness -- A large EHR-based benchmark
Venue: arXiv cs.CL 2020
Year: 2020

A promising application of AI to healthcare is the retrieval of information from electronic health records (EHRs), e.g. to aid clinicians in finding relevant information for a consultation or to recruit suitable patients for a study. This requires search capabilities far beyond simple string matching, including the retrieval of concepts (diagnoses, symptoms, medications, etc.) related to the one in question. The suitability of AI methods for such applications is tested by predicting the relatedness of concepts with known relatedness scores. However, all existing biomedical concept relatedness datasets are notoriously small and consist of hand-picked concept pairs. We open-source a novel concept relatedness benchmark overcoming these issues: it is six times larger than existing datasets and concept pairs are chosen based on co-occurrence in EHRs, ensuring their relevance for the application of interest. We present an in-depth analysis of our new dataset and compare it to existing ones, highlighting that it is not only larger but also complements existing datasets in terms of the types of concepts included. Initial experiments with state-of-the-art embedding methods show that our dataset is a challenging new benchmark for testing concept relatedness models.
3D Object Recognition By Corresponding and Quantizing Neural 3D Scene Representations
Venue: arXiv cs.CV 2020
Year: 2020

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to achieve this without relying on strong supervision signals. To address this challenge, we propose a model that maps RGB-D images to a set of 3D visual feature maps in a differentiable fully-convolutional manner, supervised by predicting views. The 3D feature maps correspond to a featurization of the 3D world scene depicted in the images. The object 3D feature representations are invariant to camera viewpoint changes or zooms, which means feature matching can identify similar objects under different camera viewpoints. We can compare the 3D feature maps of two objects by searching alignment across scales and 3D rotations, and, as a result of the operation, we can estimate pose and scale changes without the need for 3D pose annotations. We cluster object feature maps into a set of 3D prototypes that represent familiar objects in canonical scales and orientations. We then parse images by inferring the prototype identity and 3D pose for each detected object. We compare our method to numerous baselines that do not learn 3D feature visual representations or do not attempt to correspond features across scenes, and outperform them by a large margin in the tasks of object retrieval and object pose estimation. Thanks to the 3D nature of the object-centric feature maps, the visual similarity cues are invariant to 3D pose changes or small scale changes, which gives our method an advantage over 2D and 1D methods.
All-Weather Object Recognition Using Radar and Infrared Sensing
Venue: arXiv cs.CV 2020
Year: 2020

Autonomous cars are an emergent technology which has the capacity to change human lives. The current sensor systems which are most capable of perception are based on optical sensors. For example, deep neural networks show outstanding results in recognising objects when used to process data from cameras and Light Detection And Ranging (LiDAR) sensors. However these sensors perform poorly under adverse weather conditions such as rain, fog, and snow due to the sensor wavelengths. This thesis explores new sensing developments based on long wave polarised infrared (IR) imagery and imaging radar to recognise objects. First, we developed a methodology based on Stokes parameters using polarised infrared data to recognise vehicles using deep neural networks. Second, we explored the potential of using only the power spectrum captured by low-THz radar sensors to perform object recognition in a controlled scenario. This latter work is based on a data-driven approach together with the development of a data augmentation method based on attenuation, range and speckle noise. Last, we created a new large-scale dataset in the "wild" with many different weather scenarios (sunny, overcast, night, fog, rain and snow) showing radar robustness to detect vehicles in adverse weather. High resolution radar and polarised IR imagery, combined with a deep learning approach, are shown as a potential alternative to current automotive sensing systems based on visible spectrum optical technology as they are more robust in severe weather and adverse light conditions.
Transparent Compiler and Runtime Specializations for Accelerating Managed Languages on FPGAs
Venue: arXiv cs.PL 2020
Year: 2020

In recent years, heterogeneous computing has emerged as the vital way to increase computers? performance and energy efficiency by combining diverse hardware devices, such as Graphics Processing Units (GPUs) and Field Programmable Gate Arrays (FPGAs). The rationale behind this trend is that different parts of an application can be offloaded from the main CPU to diverse devices, which can efficiently execute these parts as co-processors. FPGAs are a subset of the most widely used co-processors, typically used for accelerating specific workloads due to their flexible hardware and energy-efficient characteristics. These characteristics have made them prevalent in a broad spectrum of computing systems ranging from low-power embedded systems to high-end data centers and cloud infrastructures. However, these hardware characteristics come at the cost of programmability. Developers who create their applications using high-level programming languages (e.g., Java, Python, etc.) are required to familiarize with a hardware description language (e.g., VHDL, Verilog) or recently heterogeneous programming models (e.g., OpenCL, HLS) in order to exploit the co-processors? capacity and tune the performance of their applications. Currently, the above-mentioned heterogeneous programming models support exclusively the compilation from compiled languages, such as C and C++. Thus, the transparent integration of heterogeneous co-processors to the software ecosystem of managed programming languages (e.g. Java, Python) is not seamless. In this paper we rethink the engineering trade-offs that we encountered, in terms of transparency and compilation overheads, while integrating FPGAs into high-level managed programming languages. We present a novel approach that enables runtime code specialization techniques for seamless and high-performance execution of Java programs on FPGAs. The proposed solution is prototyped in the context of the Java programming language and TornadoVM; an open-source programming framework for Java execution on heterogeneous hardware. Finally, we evaluate the proposed solution for FPGA execution against both sequential and multi-threaded Java implementations showcasing up to 224x and 19.8x performance speedups, respectively, and up to 13.82x compared to TornadoVM running on an Intel integrated GPU. We also provide a break-down analysis of the proposed compiler optimizations for FPGA execution, as a means to project their impact on the applications? characteristics.
Using Relational Problems to Teach Property-Based Testing
Venue: arXiv cs.SE 2020
Year: 2020

Context: The success of QuickCheck has led to the development of property-based testing (PBT) libraries for many languages and the process is getting increasing attention. However, unlike regular testing, PBT is not widespread in collegiate curricula. Furthermore, the value of PBT is not limited to software testing. The growing use of formal methods in, and the growth of software synthesis, all create demand for techniques to train students and developers in the art of specification writing. We posit that PBT forms a strong bridge between testing and the act of specification: it's a form of testing where the tester is actually writing abstract specifications. Inquiry: Even well-informed technologists mention the difficulty of finding good motivating examples for its use. We take steps to fill this lacuna. Approach & Knowledge: We find that the use of "relational" problems -- those for which an input may admit multiple valid outputs -- easily motivates the use of PBT. We also notice that such problems are readily available in the computer science pantheon of problems (e.g., many graph and sorting algorithms). We have been using these for some years now to teach PBT in collegiate courses. Grounding: In this paper, we describe the problems we use and report on students? completion of them. We believe the problems overcome some of the motivation issues described above. We also show that students can do quite well at PBT for these problems, suggesting that the topic is well within their reach. In the process, we introduce a simple method to evaluate the accuracy of their specifications, and use it to characterize their common mistakes. Importance: Based on our findings, we believe that relational problems are an underutilized motivating example for PBT. We hope this paper initiates a catalog of such problems for educators (and developers) to use, and also provides a concrete (though by no means exclusive) method to analyze the quality of PBT.
All of the Fairness for Edge Prediction with Optimal Transport
Venue: arXiv cs.LG 2020
Year: 2020

Machine learning and data mining algorithms have been increasingly used recently to support decision-making systems in many areas of high societal importance such as healthcare, education, or security. While being very efficient in their predictive abilities, the deployed algorithms sometimes tend to learn an inductive model with a discriminative bias due to the presence of this latter in the learning sample. This problem gave rise to a new field of algorithmic fairness where the goal is to correct the discriminative bias introduced by a certain attribute in order to decorrelate it from the model's output. In this paper, we study the problem of fairness for the task of edge prediction in graphs, a largely underinvestigated scenario compared to a more popular setting of fair classification. To this end, we formulate the problem of fair edge prediction, analyze it theoretically, and propose an embedding-agnostic repairing procedure for the adjacency matrix of an arbitrary graph with a trade-off between the group and individual fairness. We experimentally show the versatility of our approach and its capacity to provide explicit control over different notions of fairness and prediction accuracy.
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach
Venue: arXiv cs.RO 2020
Year: 2020

In this paper, with a view toward fast deployment of locomotion gaits in low-cost hardware, we use a linear policy for realizing end-foot trajectories in the quadruped robot, Stoch $2$. In particular, the parameters of the end-foot trajectories are shaped via a linear feedback policy that takes the torso orientation and the terrain slope as inputs. The corresponding desired joint angles are obtained via an inverse kinematics solver and tracked via a PID control law. Augmented Random Search, a model-free and a gradient-free learning algorithm is used to train this linear policy. Simulation results show that the resulting walking is robust to terrain slope variations and external pushes. This methodology is not only computationally light-weight but also uses minimal sensing and actuation capabilities in the robot, thereby justifying the approach.
Domain-Specific Lexical Grounding in Noisy Visual-Textual Documents
Venue: arXiv cs.CL 2020
Year: 2020

Images can give us insights into the contextual meanings of words, but current image-text grounding approaches require detailed annotations. Such granular annotation is rare, expensive, and unavailable in most domain-specific contexts. In contrast, unlabeled multi-image, multi-sentence documents are abundant. Can lexical grounding be learned from such documents, even though they have significant lexical and visual overlap? Working with a case study dataset of real estate listings, we demonstrate the challenge of distinguishing highly correlated grounded terms, such as "kitchen" and "bedroom", and introduce metrics to assess this document similarity. We present a simple unsupervised clustering-based method that increases precision and recall beyond object detection and image tagging baselines when evaluated on labeled subsets of the dataset. The proposed method is particularly effective for local contextual meanings of a word, for example associating "granite" with countertops in the real estate dataset and with rocky landscapes in a Wikipedia dataset.
Unsupervised Monocular Depth Learning in Dynamic Scenes
Venue: arXiv cs.CV 2020
Year: 2020

We present a method for jointly training the estimation of depth, ego-motion, and a dense 3D translation field of objects relative to the scene, with monocular photometric consistency being the sole source of supervision. We show that this apparently heavily underdetermined problem can be regularized by imposing the following prior knowledge about 3D translation fields: they are sparse, since most of the scene is static, and they tend to be constant for rigid moving objects. We show that this regularization alone is sufficient to train monocular depth prediction models that exceed the accuracy achieved in prior work for dynamic scenes, including methods that require semantic input. Code is at https://github.com/google-research/google-research/tree/master/depth_and_motion_learning .
Pose-based Body Language Recognition for Emotion and Psychiatric Symptom Interpretation
Venue: arXiv cs.CV 2020
Year: 2020

Inspired by the human ability to infer emotions from body language, we propose an automated framework for body language based emotion recognition starting from regular RGB videos. In collaboration with psychologists, we further extend the framework for psychiatric symptom prediction. Because a specific application domain of the proposed framework may only supply a limited amount of data, the framework is designed to work on a small training set and possess a good transferability. The proposed system in the first stage generates sequences of body language predictions based on human poses estimated from input videos. In the second stage, the predicted sequences are fed into a temporal network for emotion interpretation and psychiatric symptom prediction. We first validate the accuracy and transferability of the proposed body language recognition method on several public action recognition datasets. We then evaluate the framework on a proposed URMC dataset, which consists of conversations between a standardized patient and a behavioral health professional, along with expert annotations of body language, emotions, and potential psychiatric symptoms. The proposed framework outperforms other methods on the URMC dataset.
Integer Programming-based Error-Correcting Output Code Design for Robust Classification
Venue: arXiv cs.LG 2020
Year: 2020

Error-Correcting Output Codes (ECOCs) offer a principled approach for combining simple binary classifiers into multiclass classifiers. In this paper, we investigate the problem of designing optimal ECOCs to achieve both nominal and adversarial accuracy using Support Vector Machines (SVMs) and binary deep learning models. In contrast to previous literature, we present an Integer Programming (IP) formulation to design minimal codebooks with desirable error correcting properties. Our work leverages the advances in IP solvers to generate codebooks with optimality guarantees. To achieve tractability, we exploit the underlying graph-theoretic structure of the constraint set in our IP formulation. This enables us to use edge clique covers to substantially reduce the constraint set. Our codebooks achieve a high nominal accuracy relative to standard codebooks (e.g., one-vs-all, one-vs-one, and dense/sparse codes). We also estimate the adversarial accuracy of our ECOC-based classifiers in a white-box setting. Our IP-generated codebooks provide non-trivial robustness to adversarial perturbations even without any adversarial training.
Weakly Supervised 3D Classification of Chest CT using Aggregated Multi-Resolution Deep Segmentation Features
Venue: arXiv cs.CV 2020
Year: 2020

Weakly supervised disease classification of CT imaging suffers from poor localization owing to case-level annotations, where even a positive scan can hold hundreds to thousands of negative slices along multiple planes. Furthermore, although deep learning segmentation and classification models extract distinctly unique combinations of anatomical features from the same target class(es), they are typically seen as two independent processes in a computer-aided diagnosis (CAD) pipeline, with little to no feature reuse. In this research, we propose a medical classifier that leverages the semantic structural concepts learned via multi-resolution segmentation feature maps, to guide weakly supervised 3D classification of chest CT volumes. Additionally, a comparative analysis is drawn across two different types of feature aggregation to explore the vast possibilities surrounding feature fusion. Using a dataset of 1593 scans labeled on a case-level basis via rule-based model, we train a dual-stage convolutional neural network (CNN) to perform organ segmentation and binary classification of four representative diseases (emphysema, pneumonia/atelectasis, mass and nodules) in lungs. The baseline model, with separate stages for segmentation and classification, results in AUC of 0.791. Using identical hyperparameters, the connected architecture using static and dynamic feature aggregation improves performance to AUC of 0.832 and 0.851, respectively. This study advances the field in two key ways. First, case-level report data is used to weakly supervise a 3D CT classifier of multiple, simultaneous diseases for an organ. Second, segmentation and classification models are connected with two different feature aggregation strategies to enhance the classification performance.